Basic usage
Serial port control method
USB-485 module wiring:
Connect the 24V, GND, 485_A (T/R+, 485+), 485_B (T/R-, 485-) of the smart hand end, a total of 4 wires, the power supply is a 24V DC regulated power supply, and insert the USB port of the module into the USB port of the computer
485A connects to the 485 to USB module A+;
485B connects to the 485 to USB module B-;
24V connects to the positive pole of the 24V DC regulated power supply;
GND connects to 24V Negative pole of DC regulated power supply
Serial port debugging assistant debugging:
Users can use UartAssist serial port debugging assistant, refer to the figure below to send the corresponding dexterous hand command, CRC check code does not need to be filled in, UartAssist serial port debugging assistant will automatically generate it.
Default configuration of the dexterous hand serial port
- Dexterous hand ID: 14
- Baud rate: 115200
- Data bit: 8
- Stop bit: 1
- Check bit: No check bit
The dexterous hand uses a custom protocol. An instruction consists of a frame header (2byte), length (1byte), address code ID (1byte), function code (1byte), register address (2byte), register data (2*n bytes), and check code (2byte). Let's take reading the angle of the dexterous hand as an example
| Frame header | Length | ID | Function code | Register address | Register data/parameter | CRC-16MODBUS check code |
|---|---|---|---|---|---|---|
| Fe Fe | 08 | 0e | 03 | 00 0C | 00 01 | 71 01 |
Frame header: 254 254
Length: Command length 08
ID: 0E, can be modified in the device, the default ID is 14, 0E represents the current ID of the dexterous hand is 14
Function code: Identify whether the instruction is a setting or acquisition function, 06 (write operation to the register)/03 (read operation to the register).
Register address: 00 0c Register address corresponding to the dexterous hand function
Register parameter: 00 01 If reading, just fill in the servo ID, if setting, fill in the servo ID and the written parameters
CRC check: 71 01 Ensure that the terminal device does not respond to data that changes during transmission, ensure the security and efficiency of the system, and the CRC check adopts the 16-bit cyclic remainder method. Verify all the hexadecimal values of the frame header, length, function code, register address, and register parameters directly to get the check code 71 01.
Command Overview
Read the firmware major version number
Command: fe fe 08 0e 03 00 01 00 00 72 51
Function code: 03 Read operation
Parameter: None
Return: fe fe 08 0e 03 00 01 00 01 B2 90
Note: Data return 00 01, return version number is 1
Read the firmware minor version number
Command: FE FE 08 0E 03 00 02 00 00 72 A1
Function code: 03 Read operation
Parameter: None
Return: FE FE 08 0E 03 00 02 00 01 B2 60
Note: Data return 00 01, indicating that the return version number is 1
Set/read device ID number
Set
Command: FE FE 08 0E 06 00 03 00 0E 76 BD
Function code: 06 Write operation
Parameter: 00 0E, ID setting range (1-254)
Return: FE FE 08 0E 06 00 03 00 01 72 FD
Note: Success returns 00 01, failure returns 00 00, after the device ID is modified, the ID in the command also needs to be modified to be the same to communicate
Read
Command: FE FE 08 0E 03 00 04 00 00 73 41
Function code: 03 Read operation
Parameter: None
Return: FE FE 08 0E 03 00 04 00 0E B7 C0
Note: Data returns 00 0E, indicating the current smart hand ID number
Set/read 485 baud rate
Set
Instruction: FE FE 08 0E 06 00 05 00 00 73 1D
Function code: 06 Write operation
Parameter: 00 00, 0-115200, 1-1000000, 2-57600, 3-19200, 4-9600, 5-4800, If set to 1000000, the parameter is changed to 00 01
Return: FE FE 08 0E 06 00 05 00 01 72 FD
Note: Success returns 00 01, failure returns 00 00
Read
Instruction: FE FE 08 0E 03 00 06 00 00 B3 E0
Function code: 03 Read operation
Parameter: None
Return: FE FE 08 0E 03 00 06 00 00 B3 E0
Note: Return data 00 00, corresponding to the baud rate value of the setting parameter
Set the dexterous hand enable state
Instruction: FE FE 08 0E 06 00 0A 00 00 B0 EC
Function code: 06 Write operation
Parameter: 00 00, 00 means disconnection, 00 01 means enablement
Return: FE FE 08 0E 06 00 0A 00 01 70 2D
Note: Success returns 00 01, failure returns 00 00
Set/read the dexterous hand angle
Set
Instruction: FE FE 0A 0E 06 00 0B 00 01 00 64 FF 39
Function code: 06 Write operation
Parameter: 00 01 00 64, set the servo 1 angle to 100
Return: FE FE 08 0E 06 00 0B 00 01 B0 7C
Note: Success returns 00 01, failure returns 00 00
Read
Instruction: FE FE 08 0E 03 00 0C 00 01 71 01
Function code: 03 Read operation
Parameter: None
Return: FE FE 08 0E 03 00 0C 00 64 5A C1
Note: Return data 00 64, indicating that the current angle is 100, fully open state
Set the servo zero position
Command: FE FE 08 0E 06 00 0D 00 01 B1 9C
Function code: 06 Write operation
Parameter: 00 01 Set the servo 1 zero position
Return: FE FE 08 0E 06 00 0D 00 01 B1 9C
Note: Success returns 00 01, failure returns 00 00
Read the gripping status of the dexterous hand
Command: FE FE 08 0E 03 00 0E 00 00 71 61
Function code: 03 Read operation
Parameter: None
Return: FE FE 08 0E 03 00 0E 00 01 B1 A0
Note: 00 01, return data 0 means moving ,1: Stop motion, no clamping detected, 2: Stop motion, clamping detected, 3: Clamping detected, object dropped
Set/read the servo P value
Set
Command: FE FE 0A 0E 06 00 0F 00 01 00 64 3F C8
Function code: 06 Write operation
Parameter: 00 01 00 64, set the servo 1 P value to 100, setting range (1-254)
Return: FE FE 08 0E 06 00 0F 00 01 71 3D
Note: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 10 00 01 B7 C0
Function code: 03 Read operation Parameter: 00 01 Servo 1 Return: FE FE 08 0E 03 00 10 00 64 9C 00 Note: Return data 00 64, indicating that the current P value is 100
Set/read the servo D value
Set
Command: FE FE 0A 0E 06 00 11 00 01 00 64 3D 60
Function code: 06 Write operation
Parameter: 00 01 00 64, set the servo 1 D value to 100, setting range (1-254)
Return: FE FE 08 0E 06 00 11 00 01 77 5D
Note: Success returns 00 01, failure returns 00 00
If the dexterous hand shakes, the D value can be appropriately increased
Read
Command: FE FE 08 0E 03 00 12 00 01 77 61
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 12 00 64 5C A1
Note: Return data 00 64, indicating that the current D value is 100
Set/read servo I value
Set
Command: FE FE 0A 0E 06 00 13 00 01 00 00 16 18
Function code: 06 Write operation
Parameter: 00 01 00 00, set servo 1 I value to 0, setting range (1-254)
Return: FE FE 08 0E 06 00 13 00 01 B7 FC
Note: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 14 00 01 76 81
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 14 00 00 B6 40
Note: Return data 00 00, indicating that the current I value is 0
Set/read the clockwise running error of the servo
Set
Command: FE FE 0A 0E 06 00 15 00 01 00 03 17 D0
Function code: 06 Write operation
Parameter: 00 01 00 03, set the error value of servo 1 to 3, setting range (0-16)
Return: FE FE 08 0E 06 00 15 00 01 B6 1C
Mark: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 16 00 01 B6 20
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 16 00 01 B6 20
Mark: Return data 00 01, indicating that the current value is 1
Set/read the counterclockwise operational error of the servo
Set
Command: FE FE 0A 0E 06 00 17 00 01 00 03 D7 A9
Function code: 06 Write operation
Parameter: 00 01 00 03, set the error value of the servo 3, setting range (0-16)
Return: FE FE 08 0E 06 00 17 00 01 76 BD
Note: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 18 00 01 75 41
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 18 00 01 75 41
Note: Return data 00 01, indicating that the current value is 1
Set/read the minimum starting force of the servo
Set
Command: FE FE 0A 0E 06 00 19 00 01 00 18 1D 80
Function code: 06 Write operation
Parameter: 00 01 00 18 Set the value of servo 1 to 24
Return: FE FE 08 0E 06 00 19 00 01 B5 DC
Note: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 1A 00 01 B5 E0
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 1A 00 18 7F 21
Note: Return data 00 18, indicating that the current value is 24
Set/read servo torque
Set
Command: FE FE 0A 0E 06 00 1B 00 01 00 64 3C F8
Function code: 06 Write operation
Parameter: 00 01 00 64 Set the torque of servo 1 to 100, parameter range (0-100)
Return: FE FE 08 0E 06 00 1B 00 01 75 7D
Note: Success returns 00 01, failure returns 00 00
Read
Command: FE FE 08 0E 03 00 1C 00 01 B4 00
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 1C 01 2C 39 C1
Set/read servo speed
Set
Command: FE FE 0A 0E 06 00 20 00 01 00 14 1D 1C
Function code: 06 Write operation
Parameter: 00 01 00 14 Set the speed of servo 1 to 20, parameter range (1-100)
Return: FE FE 08 0E 06 00 20 00 01 B8 0C
Note: Success returns 00 01, failure returns 00 00
Read
Instruction: FE FE 08 0E 03 00 21 00 01 78 91
Function code: 03 Read operation
Parameter: 00 01 Servo 1
Return: FE FE 08 0E 03 00 21 00 32 6D D1
Note: 00 32 Data returned is 50
Set the dexterous hand gesture
Set
Command: FE FE 08 0E 06 00 34 01 01 00 35 EC
Function code: 06 Write operation
Parameter: 01 01 Set gesture (0-4), gesture closure degree (0-5)
Return: FE FE 08 0E 06 00 34 00 01 B8 0C
Note: Success returns 00 01, failure returns 00 00
Set/read the dexterous hand angle
Set
Command: FE FE 12 0E 06 00 2D 00 00 00 00 00 00 00 00 00 00 00 00 00 14 23 FC
Function code: 06 Write operation
Parameter: 00 00 00 00 00 00 00 00 00 00 00 00 00 14 The first 12 bytes represent the angle (0-100), and the last two bytes represent the speed (0-100)
Return: FE FE 08 0E 06 00 2D 00 01 7B 9D
Note: Success returns 00 01, failure returns 00 00
Read
Instruction: FE FE 08 0E 03 00 32 00 00 7D A1
Function code: 03 Read operation
Parameter: None
Return: FE FE 0C 0E 03 00 32 00 00 00 01 00 00 00 00 00 01 00 00 84 74
Note: 00 00 00 01 00 00 00 00 00 01 00 00 The data returned is [0, 1, 0, 0, 1, 0]